#include <PID_Controller.h>

Public Member Functions
double	compute (double err, double dt, double feedforward=0)

double	filterReference (double setpoint, double dt)

void	reset ()

Public Attributes
double	KP = 1.0

double	KI = 0

double	KD = 0

double	N = 0

double	max_out = 0
	For clamping (0=no clamp)

bool	enable_antiwindup = false

bool	enable_reference_filter = false

double	reference_filter_tau = 0.1

int	reference_filter_order = 1

Detailed Description

PID controller with optional features:

Filtered derivative (coefficient N)
Anti-windup via back-calculation
Optional reference setpoint filter (1st or 2nd order)

Member Function Documentation

◆ compute()

double mvsim::PID_Controller::compute	(	double	err,
		double	dt,
		double	feedforward = `0`
	)

Compute PID output.

Parameters

[in]	err	Error = desired - actual
[in]	dt	Elapsed time in seconds
[in]	feedforward	Optional feedforward term added to the output

Returns: Control output (torque, force, etc.)

◆ filterReference()

double mvsim::PID_Controller::filterReference	(	double	setpoint,
		double	dt
	)

Filter a setpoint through the reference filter. Call this on the setpoint before computing the error, if enable_reference_filter is true.

Returns: Filtered setpoint value.

◆ reset()

void mvsim::PID_Controller::reset ( )

Reset internal status to all zeros (gains and settings remain unmodified)

Member Data Documentation

◆ enable_reference_filter

bool mvsim::PID_Controller::enable_reference_filter = false

Enable low-pass filter on reference (setpoint) before error computation.

◆ N

double mvsim::PID_Controller::N = 0

Derivative filter coefficient. Higher values = less filtering. Typical range: 2-20. Set to 0 to disable filtered derivative (falls back to standard difference).

◆ reference_filter_order

int mvsim::PID_Controller::reference_filter_order = 1

Order of the reference filter: 1 or 2.

◆ reference_filter_tau

double mvsim::PID_Controller::reference_filter_tau = 0.1

Time constant for the reference filter [seconds].

The documentation for this struct was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/PID_Controller.h

Public Member Functions

Public Attributes